V = Variables
R = Reading functions
The VC11HdrJoint function calculate the posit Joint for a device according to the HIGH DATA RAPPRESENTATION scheme.
VC11HdrJoint (Joint,HdrType,ResultX,ResultY,ResultZ)
Parameters:
| IN/OUT | VARIABLE TYPE | EXAMPLE NAME | DIM | |
|---|---|---|---|---|
| Joint | JOINT | joint | Device JOINT | |
| HdrType | GLOBAL CONST SYSTEM | 2 | B | HDR viewing type |
| ResultX | GLOBAL | returnX | L | X axis position converted |
| ResultY | GLOBAL | returnY | L | Y axis position converted |
| ResultZ | GLOBAL | returnZ | L | Z axis position converted |
The HDR viewing allows to center the range of units on integers values. The value is calculated by the encoder, measure and pulse is approximated to the nearest unit.
0 - Hdr disable.
1 - Hdr enable, in the central band between two units (between 0→1 the band is [0.25, 0.75] ) it's shown a counter that oscillates between two values.
2 - Hdr enable
Sia jtXYZ un device JOINT con parametri
| measurex: 220 | pulsex: 4096 | encoderx: 62296 | 62296/4096*220 = 3345,97 | positx:3345 |
| measurey: 110 | pulsey: 4096 | encodery: 73692 | 73692/4096*110 = 1979,03 | posity:1979 |
| measurez: 336 | pulsez: 4096 | encoderz: -6939 | -6939/4096*336 = -569,21 | positz:-569 |
VC11HdrJoint(jtXYZ,2,ResultX, ResultY, ResultZ)
restituisce i valori ResultX = 3346 ResultY = 1979 ResultZ = -569